import

2026-05-19 11:49:22 +08:00
commit add7af4222
96 changed files with 8635 additions and 0 deletions
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+#include <os_sched.h>
+#include "os_port.h"
+#include "os_critical.h"
+#include "os_rdy_list.h"
+#include "os_yield_list.h"
+#include "os_idle.h"
+#include "os_isr.h"
+
+volatile os_task_t* g_os_sched_current_task_p;
+volatile os_size_t g_os_sched_pending_cnt;
+static volatile os_task_t* p_curr_task;
+static volatile os_task_t* p_next_task;
+static os_bool_t s_os_sched_wip_flag;
+
+/* ------------------------------------------------------------------------------------------------------------------ */
+/*  */
+
+
+void os_sched_init(void){
+    g_os_sched_current_task_p = 0;
+    g_os_sched_pending_cnt = 0;
+    s_os_sched_wip_flag = OS_FALSE;
+}
+
+void os_sched_in_isr(void){
+    os_critical_enter_in_isr();
+
+    if(s_os_sched_wip_flag == OS_TRUE){
+        // 调度正在进行中，返回
+        os_critical_leave_in_isr();
+        return;
+    }
+    s_os_sched_wip_flag = OS_TRUE;
+
+    if(g_os_isr_nesting_cnt>0){
+        // 中断嵌套
+        g_os_sched_pending_cnt++;
+        s_os_sched_wip_flag = OS_FALSE;
+        os_critical_leave_in_isr();
+        return;
+    }
+
+    if(g_os_sched_current_task_p && g_os_sched_current_task_p->state == kOsTaskState_Running){
+        // 当前任务还在运行，返回
+        s_os_sched_wip_flag = OS_FALSE;
+        os_critical_leave_in_isr();
+        return;
+    }
+
+    p_curr_task = g_os_sched_current_task_p;
+
+    // 获取下一个任务
+    os_priority_t priority = os_priority_get_highest();
+    os_rdy_list_t* p_rdy_list = os_rdy_list_get(priority);
+    os_list_node_t* p_node = p_rdy_list->head.next;
+    p_next_task = os_list_member_of(p_node, os_task_t, node);
+    if(!os_idle_is_idle_task((os_task_t*)p_next_task)){
+        os_rdy_list_remove((os_task_t*)p_next_task);
+    }
+
+    // yield 的任务加入就绪表
+    for(p_node = g_os_yield_list.next; p_node!=&g_os_yield_list; ){
+        os_task_t* p_task = os_list_member_of(p_node, os_task_t, node);
+        p_node = p_node->next;
+        os_yield_list_remove(p_task);
+        if(!os_idle_is_idle_task(p_task)) {
+            os_rdy_list_insert(p_task);
+        }
+    }
+
+    // 下个任务就是当前任务, 获得一次运行的机会
+    if(p_next_task==p_curr_task){
+        p_next_task->state = kOsTaskState_Running;
+        p_next_task->remain_ticks = p_next_task->init_ticks;
+        s_os_sched_wip_flag = OS_FALSE;
+        os_critical_leave_in_isr();
+        return;
+    }
+
+    s_os_sched_wip_flag = OS_FALSE;
+    os_critical_leave_in_isr();
+
+    // 执行上下文切换
+    os_port_context_switch((void*)(p_curr_task?&p_curr_task->stack.sp:0), (void*)&p_next_task->stack.sp);
+}
+
+
+